Strength of Materials

Prof. M. S. Sivakumar

Problem 1 - Internal torque in a Shaft Problem 2 - Torsion formula (circular elastic bars). Problem 3 - Hollow cylinder Problem 4 - Angle of twist for circular members Problem 5 - Variable c/s and Torque Problem 6 - Composite bars Problem 7 - Statically indeterminate problem Problem 8 - Alternative differential approach to Torsion Problem 9 - Energy and load impacts

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

1. Internal torque in a Shaft

Find the internal torque at any section for the shaft shown in the figure. The forces are shown in the figure.

Figure:

Concepts Involved: Force equilibrium

Solution :

Step 1 The 50N.m torque is balanced by the two torques of 35 and 15 N.m at A and B respectively. Therefore, the body as a whole is in equilibrium.

Step 2 We obtain the free body diagram of the part of the shaft, by passing a plane perpendicular to the shaft at any point between A and B. So we have Mx = 0, this implies TAB = 35N-m. The conclusion reached is that resisting torque developed between shaft A and B is 35N-m

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Step 3 On similar grounds the internal torque resisted between B and C is 50 N-m

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Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

2. Torsion formula (circular elastic bars).

Find the maximum torsional stress in shaft AC (refer the figure). Assume the Diameter of AC is 15 mm.

Concepts involved: 1) Torsional stress 2) Torsion formula

Formulae used: Polar moment of inertia

J = 2 dA
A

Torsion formula max = Tr/J Solution: Step 1: The maximum internal torque resisted by the shaft is known from the previous problem to be 50 N-m

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Step 2: Calculate J for the section using the first formula J = d4/32 = 4970 mm4

Step 3: Substitute in the torsion formula max = Tr/J = (50 X 103 X7.5)/ 4970 = 75.45Mpa

Result variation: Consider the case when diameter changes. Guess how max will change? For answer: max is inversely proportional to d3

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Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

3. Hollow cylinder
Consider a long tube of 25mm outside diameter, do, and of 20mm inside diameter di, twisted about its longitudinal axis with a torque T of 45 N-m Determine the shear stresses at the outside and inside of the tube

Concepts involved: Torsional stress Torsion formula

Formulae used: Polar moment of inertia

4 ( d o - di4 ) J = dA = 32 A
2

Torsion formula max = Tr / J

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Solution: Step 1: Calculate J

4 ( do - di4 ) ( 204 -164 ) J = 2 dA = = 32 32 A

=22641mm4

Step 2: Apply torsion formula for the two radii max = Tro /J = (50 X 103 X 12.5 )/ 22641= 27.6 MPa max = Tri /J = (50 X 103 X 10)/ 22641= 22.1 MPa

Conclusion: We see that hollow members are better transmitters of torsion than solid members.

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Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

4. Angle of twist for circular members

Find the relative rotation of section B-B with respect to section A-A of the solid elastic shaft as shown in the figure when a constant torque T is being transmitted through it. The polar moment of inertia of the cross-sectional area J is constant.

Concepts involved: Angle of twist in circular members

Formulae used:

Tx dx JG

Where, = Angle of twist Tx = torque at distance x Jx = polar moment of area at distance x G = Shear modulus

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Solution: Step 1: Here neither torque nor J changes with x so, Tx = T and Jx = J

=
i.e ,

TA dx Tdx T TL = = dx = JG Jx G JG JG
0 0

TL JG

Note: In applying the above equation, note particularly that the angle must be expressed in radians. Also observe the great similarity of this relation equation =PL/AE, for axially loaded bars. Here T P, J , and G E. By the analogy, this equation can be recast to express the torsional spring constant, or torsional stiffness, kt as Kt = T/ = JG /L [N-m/rad]

This constant torque required to cause a rotation of 1 radian, i.e., = 1. It depends only on the material properties and the size of the member. As for axially loaded bars, one can visualize torsion members as springs.

The reciprocal of kt defines the torsional flexibility ft. Hence, for a circular solid or hollow shaft. ft = 1/kt = L / JG [ rad/N-m] This constant defines the rotation resulting from application of a unit torque, i.e., T = 1. On multiplying by the torque T, one obtains the current equation

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Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

5. Variable c/s and Torque

Consider the stepped shaft shown in figure rigidly attached to a wall at E. Determine the angle-of-twist of the end A when the torque at B and at D is applied. Assume the shear modulus G to be 80 GPa, a typical value for steels.

Concepts Involved: Angle of twist

Formulae used:

Tx dx JG

Where, = Angle of twist Tx = torque at distance x Jx = polar moment of area at distance x G = Shear modulus

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Solution: Step 1: The torque at E is determined to assure equilibrium. TE = 1000 + 150 N-m = 1150 N-m Step 2: Find Torques at different c/s by drawing free body diagram At any c/s between D and E is 1150 N.m TDE = 1150 N.m At any c/s between BD, TBD = 150 N-m At any c/s between AB TAB = 0 N-m

Step 3: The polar moments of inertia for the two kinds of cross sections occurring in this problem are found using polar moment equation giving JAB = JBC =

d4 = x254/32 = 38.3x103 mm4 32

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

JCD = JDE =

4 ( do di4 ) 32

= (504 - 254) /32 = 575 x 103 mm4

Step 4: Angle of twist is found at several c/s as shown To find the angle-of-twist of the end A, angle-of-twist formula is applied for each segment and the results summered. The limits of integration for the segments occur at points where the values of T or J change abruptly. Here total angle of twist is found out,

Tx dx B TAB dx C TBC dx D TCD dx E TDE dx = = + + + A JxG A J AB G B J BC G C J CD G D J DE G

In the last group of integrals, Ts and Js are constant between the limits considered, so each integral reverts to a known solution. Hence,

=
i

Ti Li TAB LAB TBC LBC TCD LCD TDE LDE = + + + Ji G J AB G J BC G JCD G J DE G

=0+

150 x103 x 200 150 x103 x 200 1150x103 x500 + + 38.3x103 x80x103 575x103 x80x103 575x103 x80x103

=0+9.8x10-3+1.0x10 -3+12.5x10 -3=23.3x10-3 rad

As can be noted from above, the angle-of- twist for shaft segments starting from the left end are : 0 rad, 9.8 x 10-3 rad, 1.0 x 10 -3, rad 12.5x10
-3

rad. Summing these quantities

beginning from A, gives the angle-of-twist along the shaft. Since no shaft twist can occur at the built-in end, this function must be zero at E, as required by the boundary condition.

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Therefore, according to the adopted sign convention the angle-of-twist at A is -23.3x10-3 rad occurring in the direction of applied torques.

No doubt local disturbances in stresses and strains occur at the applied concentrated torques and the change in the shaft size, as well as at the built-in end. However, these are local effects having limited influence on the overall behavior of the shaft.

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Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

6. Composite bars
Determine the torsional stiffness kt, for the rubber bushing shown in figure. Assume that the rubber is bonded to the steel shaft and the outer steel tube, which is attached to machine housing. The shear modulus for the rubber is G. Neglect deformations in the metal parts of the assembly.

Concepts involved: Angle of twist in circular members

Formulae used:

Tx dx JG

Where, = Angle of twist Tx = torque at distance x Jx = polar moment of area at distance x G = Shear modulus

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Solution: Step 1: Calculate the torque acting at any surface. Due to the axial symmetry of the problem, on every imaginary cylindrical surface of rubber of radius r, the applied torque T is resisted by constant shear stresses . The area of the imaginary surface is 2 rL. On this basis, the equilibrium equation for the applied torque T and the resisting torque developed by the shear stresses acting at a radius r is T = (2 rL) r [area*stress*arm]

Step 2: Get from the above relation and hence determine shear strain. From this relation, =T/2r2L Hence, by using Hookes law, the shear strain can be determined for an infinitesimal tube of radius r and thickness dr, figure, from the following relation:

T = G 2LGr 2

Step 3: Get the angle of twist by integrating throughout the surface. This shear strain in an infinitesimal tube permits the shaft to rotate through an infinitesimal angle d. Since in the limit r + dr is equal to r, the magnitude of this angle is d = (dr/r) The total rotation of the shaft is an integral, over the rubber bushings, of these infinitesimal rotations, i.e.

= d=
From which,

D/2 dr T 1 1 3 = LG 2 2 2LG d/2 r D d

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

T LG kt = = 1 1 2 2 D d

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Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

7. Statically indeterminate problem

Consider the stepped shaft shown in the figure. Determine the end reactions and plot the torque diagram for the shaft. Apply the force method.

Concepts involved: Statically indeterminate structures Force method of analysis In this method the problems are reduced to statical determinancy by removing one of the redundant reactions and calculating the rotation o at the released support. The required boundary conditions are then restored by twisting the member at the released end through an angle 1 such that o + 1 = 0.

Formulae used: o + 1 = 0. where o = rotation at the released support 1 = Rotation at the restored support

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

d 4 -d 4 o i J = 32 where do = Outer diameter di = Inner diameter

Solution: Step 1: Remove any of the redundant reaction and analyse the structure.

There are two unknown reactions, TA and TE. One of them can be considered as redundant, and, arbitrary, reaction TA is removed. This results in the free-body diagram shown in the above figure. Then the end rotation is calculated as o =23.3x10-3 rad.

Step 2: Get the J for all c/s JAC=38.3x103 mm2 and JCE =575x103 mm2.

Step 3: Now apply the redundant reaction (TA in this case).

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

By applying TA to the unloaded bar, as shown in the above figure, end rotation 1 at end A is found.

1 =
i

Ti Li Ji G i

= TA x103

450

3 38.3 x 10 x 80 x 10

+ 3

3 3 575 x 10 x 80 x 10
800

= (147 x10-6 + 17 x 10-6 )TA = 164x10-6 TA rad

Where TA has the units of N-m.

Step 4: Use compatibility condition to find out reactions. Using compatibility condition and defining rotation in the direction of TA as positive, one has -23.3x10-3+164x10-6TA=0 Hence TA = 142N-m and TB = 1150 -142 = 1008 N-m.

Step 5: Now torques at all c/s can be found out using equilibrium.

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

The torque diagram for the shaft is shown in the above figure. The direction of the internal torque vector T on the left part of an isolated shaft segment coincides with that of the positive x axis, it is taken as positive. Note that most of the applied torque is resisted at the end E. Since the shaft from A to C is more flexible than from C to E, only a small torque develops at A.

In this problem is indeterminate only to the first degree, it has three kinematics degrees of the freedom. Two of these are associated with the applied torques and one with the change in the shaft size. Therefore, an application of the displacement method would be more cumbersome, requiring three simultaneous equations.

Tips while solving similar problems: Identification of the redundant force is one of the key points in this type of problem. The choice is usually simple.

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Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

8. Alternative differential approach to Torsion

Consider an elastic circular bar having a constant JG subjected to a uniformly varying torque tx, as shown in the figure. Determine the rotation of the bar along its length and the reactions at the ends A and B for two cases:

(a) assume that end A is free and the end B is built-in

(b) assume that both ends of the bar are fixed.

Concepts involved: Differential approach

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Formulae used:

JG

d2 x = t x = to L dx 2

tx = Distributed torque in a small infinitesimal element T = Torque developed at the ends of the element due to the distributed torque tx

Solution: Part 1: By integrating the above equation twice and determining the constants of integration C1 and C2 from the boundary conditions, the required conditions are determined

JG

d2 x = t x = to L dx 2

JG

t x2 d = T = o + C1 2L dx

Apply boundary condition to get C1 and C2 TA=T(0) = 0 hence, C1=0 TB = T(L) = - to (L / 2)

t o x3 + C2 JG = T = 6L

= ( L ) = 0

hence

C2 =

to L
6

t o L2 t o x3 JG = 6 6L
The negative sign for TB means that the torque vector acts in the direction opposite to that of the positive x-axis.

Part 2:

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Except for the change in the boundary conditions, the solution procedure is the same as in part (a).

JG

d2 x = t x = to L dx 2

JG

t x2 d = T = o + C1 2L dx

t o x3 + C1x + C2 JG = T = 6L
A = (0) = 0 hence C2 =0 B = (L) = 0 hence C1=to (L / 6)

t o L2 t o x3 JG = 6 6L
TA = T(0) = to (L / 6) TB = T(L) = -to (L / 2) + to (L / 6) = -to (L / 3)

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Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

9. Energy and load impacts

Find the energy absorbed by an elastic circular shaft subjected to a constant torque in terms of maximum shear stress and the volume of materials (Refer to the figure). Find the rotation of an elastic circular shaft with respect to the built in end when a torque T is applied at the free end.

Concepts involved: Energy methods

Formulae used: Shear energy formula

Us =

2 dV V 2G

Where, Us = Shear energy stored in the body = Shear stress

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Solution: Part 1: The shear stress in an elastic circular shaft subjected to torque varies linearly from the longitudinal axis. Hence the shear stress acting on an element at a distance from the center of the cross-section is

( max )
r

Then

Us =

2 dV V 2G
2

2 2 Us = dV = ma x 2 2 d L V 2G V 2Gr ma x 2 L c 3 ma x 2 L r 2 = d = 2G r 2 2G r 2 4 0
2 2

1 = ma x vol 2G 2
2

If there were uniform shears throughout the member, a more efficient arrangement for absorbing energy would be obtained. Rubber bushings with their small G values provide an excellent device for absorbing shock torque from a shaft.

Part 2: If torque T is gradually applied to the shaft, the external work We = (1/2) T , Where is the angular rotation of the free end in radians. The expressions for the internal strain energy Us, which was found in part (a), may be written in a more convenient form by noting that max = Tr / J, the volume of the rod r2L, and J = r4/2. Thus

Indian Institute of Technology Madras

Strength of Materials

Prof. M. S. Sivakumar

Us =

max 2 1 vol 2G 2

2 r 2 1 = 2 r2L 2J G 2 2 L = 2JG

Then from We = Us T /2 = T2L/2JG and = TL/JG

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Indian Institute of Technology Madras